// // FILE: unit_test_001.cpp // AUTHOR: Rob Tillaart // DATE: 2021-01-07 // PURPOSE: unit tests for the runningAngle library // https://github.com/RobTillaart/runningAngle // https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md // // supported assertions // ---------------------------- // assertEqual(expected, actual); // a == b // assertNotEqual(unwanted, actual); // a != b // assertComparativeEquivalent(expected, actual); // abs(a - b) == 0 or (!(a > b) && !(a < b)) // assertComparativeNotEquivalent(unwanted, actual); // abs(a - b) > 0 or ((a > b) || (a < b)) // assertLess(upperBound, actual); // a < b // assertMore(lowerBound, actual); // a > b // assertLessOrEqual(upperBound, actual); // a <= b // assertMoreOrEqual(lowerBound, actual); // a >= b // assertTrue(actual); // assertFalse(actual); // assertNull(actual); // // special cases for floats // assertEqualFloat(expected, actual, epsilon); // fabs(a - b) <= epsilon // assertNotEqualFloat(unwanted, actual, epsilon); // fabs(a - b) >= epsilon // assertInfinity(actual); // isinf(a) // assertNotInfinity(actual); // !isinf(a) // assertNAN(arg); // isnan(a) // assertNotNAN(arg); // !isnan(a) #include #include "runningAngle.h" unittest_setup() { } unittest_teardown() { } unittest(test_constructor) { fprintf(stderr, "VERSION: %s\n", RUNNING_ANGLE_LIB_VERSION ); runningAngle heading(runningAngle::DEGREES); assertEqualFloat(0.80, heading.getWeight(), 0.0001); assertEqualFloat(0, heading.getAverage(), 0.0001); } unittest(test_getAverage) { runningAngle heading(runningAngle::DEGREES); for (int angle = 0; angle < 10; angle++) { heading.add(angle); fprintf(stderr, "%d\t%f\n", angle, heading.getAverage()); } assertEqualFloat(8.750000, heading.getAverage(), 0.0001); fprintf(stderr, "\treset()\n"); heading.reset(); assertEqualFloat(0, heading.getAverage(), 0.0001); } unittest(test_weight) { runningAngle heading(runningAngle::DEGREES); assertEqualFloat(0.80, heading.getWeight(), 0.0001); heading.setWeight(0.85); assertEqualFloat(0.85, heading.getWeight(), 0.0001); heading.setWeight(2); assertEqualFloat(1, heading.getWeight(), 0.0001); heading.setWeight(-5); assertEqualFloat(0.001, heading.getWeight(), 0.0001); fprintf(stderr, "\treset()\n"); heading.reset(); assertEqualFloat(0.80, heading.getWeight(), 0.0001); } unittest(test_wrap) { runningAngle heading(runningAngle::DEGREES); assertEqualFloat(0, heading.wrap(0), 0.0001); assertEqualFloat(0, heading.wrap(360), 0.0001); assertEqualFloat(1, heading.wrap(361), 0.0001); assertEqualFloat(179, heading.wrap(179), 0.0001); assertEqualFloat(-180, heading.wrap(180), 0.0001); assertEqualFloat(-179, heading.wrap(181), 0.0001); assertEqualFloat(-179, heading.wrap(-179), 0.0001); assertEqualFloat(-180, heading.wrap(-180), 0.0001); assertEqualFloat(179, heading.wrap(-181), 0.0001); assertEqualFloat(1, heading.wrap(721), 0.0001); assertEqualFloat(-1, heading.wrap(-1), 0.0001); assertEqualFloat(-1, heading.wrap(-361), 0.0001); assertEqualFloat(-1, heading.wrap(-721), 0.0001); } unittest_main() // --------